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#ifndef DY_CONSTRAINTPARTITION_H
#define DY_CONSTRAINTPARTITION_H

#include "DyDynamics.h"



namespace physx
{

namespace Dy
{
struct ConstraintPartitionArgs
{

	//Input
	PxU8*									mBodies;
	PxU32									mNumBodies;
	PxU32									mStride;
	ArticulationSolverDesc*					mArticulationPtrs;
	PxU32									mNumArticulationPtrs;
	PxSolverConstraintDesc*					mContactConstraintDescriptors;
	PxU32									mNumContactConstraintDescriptors;
	//output
	PxSolverConstraintDesc*					mOrderedContactConstraintDescriptors;
	PxSolverConstraintDesc*					mTempContactConstraintDescriptors;
	PxU32									mNumDifferentBodyConstraints;
	PxU32									mNumSelfConstraints;
	PxU32									mNumStaticConstraints;
	Ps::Array<PxU32>*						mConstraintsPerPartition;
	Ps::Array<PxU32>*						mBitField;

	bool									enhancedDeterminism;
};

PxU32 partitionContactConstraints(ConstraintPartitionArgs& args);

} // namespace physx

}



#endif // DY_CONSTRAINTPARTITION_H  

